AP_RCProtocol: factor out a poll_protocol method

rainmaker64 · Feb 21, 2024 · d37d70e · d37d70e
1 parent e4fc55f
commit d37d70e
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Showing 2 changed files with 55 additions and 12 deletions.
diff --git a/libraries/AP_RCProtocol/AP_RCProtocol.cpp b/libraries/AP_RCProtocol/AP_RCProtocol.cpp
@@ -367,6 +367,44 @@ void AP_RCProtocol::update()
     check_added_uart();
 }
 
+// explicitly investigate a backend for data, as opposed to feeding
+// the backend a byte (or pulse-train) at a time and having them make
+// an "add_input" callback):
+bool AP_RCProtocol::detect_async_protocol(rcprotocol_t protocol)
+{
+    auto *p = backend[protocol];
+    if (p == nullptr) {
+        // backend is not allocated?!
+        return false;
+    }
+
+    if (_detected_protocol == protocol) {
+        // we are using this protocol already, see if there is new
+        // data.  Caller will handle the case where we stop presenting
+        // data
+        return p->new_input();
+    }
+
+    // we are not the currently in-use protocol.
+    const uint32_t now = AP_HAL::millis();
+
+    // see if another backend is providing data:
+    if (!should_search(now)) {
+        // apparently, yes
+        return false;
+    }
+
+    // nobody is providing data; can we provide data?
+    if (!p->new_input()) {
+        // we can't provide data
+        return false;
+    }
+
+    // we can provide data, change the detected protocol to be us:
+    _detected_protocol = protocol;
+    return true;
+}
+
 bool AP_RCProtocol::new_input()
 {
     // if we have an extra UART from a SERIALn_PROTOCOL then check it for data
@@ -379,21 +417,21 @@ bool AP_RCProtocol::new_input()
         }
     }
 
+    // iterate through backends which don't do either of pulse or uart
+    // input, and thus won't update_new_input
+    const rcprotocol_t pollable[] {
 #if AP_RCPROTOCOL_DRONECAN_ENABLED
-    uint32_t now = AP_HAL::millis();
-    if (should_search(now)) {
-        if (backend[AP_RCProtocol::DRONECAN] != nullptr &&
-            backend[AP_RCProtocol::DRONECAN]->new_input()) {
-            _detected_protocol = AP_RCProtocol::DRONECAN;
-            _last_input_ms = now;
-        }
-    } else if (_detected_protocol == AP_RCProtocol::DRONECAN) {
-        _new_input = backend[AP_RCProtocol::DRONECAN]->new_input();
-        if (_new_input) {
-            _last_input_ms = now;
+        AP_RCProtocol::DRONECAN,
+#endif
+    };
+    for (const auto protocol : pollable) {
+        _new_input = detect_async_protocol(protocol);
+        if (!_new_input) {
+            continue;
         }
+        _last_input_ms = AP_HAL::millis();
+        break;
     }
-#endif
 
     bool ret = _new_input;
     _new_input = false;

diff --git a/libraries/AP_RCProtocol/AP_RCProtocol.h b/libraries/AP_RCProtocol/AP_RCProtocol.h
@@ -211,6 +211,11 @@ class AP_RCProtocol {
     // return true if a specific protocol is enabled
     bool protocol_enabled(enum rcprotocol_t protocol) const;
 
+    // explicitly investigate a backend for data, as opposed to
+    // feeding the backend a byte (or pulse-train) at a time and
+    // having them make an "add_input" callback):
+    bool detect_async_protocol(rcprotocol_t protocol);
+
     enum rcprotocol_t _detected_protocol = NONE;
     uint16_t _disabled_for_pulses;
     bool _detected_with_bytes;